CN102818952B - Method and device for automatically detecting and compensating zero position deviation of rotary transformer - Google Patents

Method and device for automatically detecting and compensating zero position deviation of rotary transformer Download PDF

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Publication number
CN102818952B
CN102818952B CN201210269214.XA CN201210269214A CN102818952B CN 102818952 B CN102818952 B CN 102818952B CN 201210269214 A CN201210269214 A CN 201210269214A CN 102818952 B CN102818952 B CN 102818952B
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China
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current
value
resolver
zero drift
signal
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CN201210269214.XA
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Chinese (zh)
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CN102818952A (en
Inventor
张玉峰
李声晋
魏世克
杨静伟
周勇
张松松
李鑫
周广伟
王严伟
江修立
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西北工业大学
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Abstract

The invention discloses a method and a device for automatically detecting and compensating the zero position deviation of a rotary transformer. After output analog signals of the rotary transformer are decoded by a signal decoding circuit of the rotary transformer, the output analog signals are sent to a microcontroller. Current of a motor phase winding is detected by a Hall current sensor, and after the current is adjusted, the current is sent to the microcontroller by an analog-digital conversion circuit. The average value of sent voltage signals is calculated by the microcontroller. According to the current phase current average value and the last zero position deviation compensation value of the rotary transformer, the direction is adjusted, and then the best zero position deviation compensation value of the rotary transformer is calculated; and meanwhile, motor control signals of the microcontroller are subjected to power amplification by a power driving circuit for driving a tested motor to normally run. According to the method and the device disclosed by the invention, zero position deviation detection implementation steps of the rotary transformer are obviously simplified, the difficulty for detecting the zero position deviation of the rotary transformer is reduced, and the automatic compensation to the zero position deviation of the rotary transformer is realized. The method and the device for automatically detecting and compensating zero position deviation of the rotary transformer also have the advantages of convenience in operation, powerful adaptability and low cost.

Description

Method and the device of a kind of automatic detection and compensation resolver zero drift

Technical field

The present invention relates to a kind of method and device that detects and compensate resolver zero drift.

Background technology

Resolver has the features such as reliable in structure, real-time is good, environmental suitability is strong, is widely used in accurately detecting in motor servo system the position of servo motor rotor.Resolver rigging error when mounted can cause the zero-bit of resolver to produce deviation, thereby causes motor actual rotor position and the rotor-position detecting by resolver to have zero drift.The existence of this zero drift can cause not to be expected and uncontrollable direct-axis current, when serious, can cause servomotor to start or to reverse.Detecting the conventional method of servo motor rotor zero drift is at present pre-determined bit method and high-frequency signal injection: pre-determined bit method is in servo motor stator, to pass to direct current or apply the fixing voltage vector of direction rotor is dragged to precalculated position, the rotor position information detecting according to servo motor rotor position transducer can be determined the zero drift of rotor-position sensor, and it is larger that the shortcoming of the method is that motor bringing onto load or friction torque detect error when larger.High-frequency signal injection is to utilize the salient pole of motor or saturation effect to carry out the initial position of detection rotor, thereby determines the zero drift of rotor-position sensor.The shortcoming of the method is higher to hardware requirement, and Project Realization difficulty is larger.

Summary of the invention

In order to solve the deficiencies such as existing resolver zero drift detection method measure error is large, high to hardware requirement, Project Realization is difficult, the present invention proposes a kind of method of automatic detection and compensation resolver zero drift, can significantly simplify and detect resolver zero drift implementation step, reduce the difficulty that detects resolver zero drift, and the auto-compensation of realization to resolver zero drift, easy to operate, strong adaptability, and cost is lower.

The technical solution adopted for the present invention to solve the technical problems comprises the following steps:

1) the initial zero drift offset of setting resolver is zero.Rotary electric machine, the current current signal I of any phase winding Px of sampling motor, and be digital quantity by this current conversion, ask for the mean value X in time T, the value of time T is relevant with current sample time and current ripples, under selected sample rate, the value of time T is enough approached the spent time of the sampling number of primary current mean value as criterion seeking out;

2) the zero drift offset of selected resolver is adjusted direction F(clockwise or is counterclockwise arbitrarily), and the zero drift offset adjustment direction F that sets resolver is+1, taking the minimum resolution value of output signal of rotary transformer as step units Δ, the zero drift offset of resolver is increased after a Δ, the current current signal I of sampling motor winding Px, and be to obtain the mean value Y in time T after digital quantity by this current conversion;

3) determine the adjustment direction of the zero drift offset of resolver according to the value of X, Y, F.

In the time that F is+1:

If X≤Y, the value of X is updated to the value of Y, the zero drift offset of resolver is reduced to a Δ, upgrading F value is-1, the current current signal I of sampling motor winding Px obtains mean value in time T as current Y value after this current conversion is digital quantity.

If X>Y, the value of X is updated to the value of Y, the zero drift offset of resolver is increased to a Δ, the current current signal I of sampling motor winding Px, and be to obtain the mean value in time T after digital quantity by this current conversion, using this mean value as current Y value.

In the time that F is-1:

If X≤Y, the value of X is updated to the value of Y, the zero drift offset of resolver is increased to a Δ, upgrading F value is+1, the current current signal I of sampling motor winding Px obtains mean value in time T as current Y value after this current conversion is digital quantity.

If X>Y, the value of X is updated to the value of Y, the zero drift offset of resolver is reduced to a Δ, upgrading F value is-1, the current current signal I of sampling motor winding Px, and be to obtain the mean value in time T after digital quantity by this current conversion, using this mean value as current Y value.

4) repeating step 3), until there is continuously swing state in the zero drift offset of resolver, be that zero drift offset alternately occurs that (DT+ Δ) and (DT-Δ) reaches at least 150 times continuously, now DT is final resolver zero drift offset.

The present invention also provides a kind of device of realizing said method, comprises microcontroller, power driving circuit, signals of rotating transformer resolving circuit, current detecting and modulate circuit, analog to digital conversion circuit.Signals of rotating transformer resolving circuit is for providing pumping signal to resolver, and the outputting analog signal of resolver is resolved and nurses one's health into the digital signal that meets microcontroller input requirements and send into microcontroller, current detecting and modulate circuit comprise Hall current sensor and signal conditioning circuit, Hall current sensor detects the electric current in motor phase windings, and sends into signal conditioning circuit signal condition is sent into analog to digital conversion circuit to the voltage signal in the specified input range of analog to digital conversion circuit.Analog to digital conversion circuit with sample frequency more than 1kHz sample the voltage signal sent into and this voltage signal is converted to the digital signal that meets microcontroller signal input standard after send into microcontroller.Microcontroller carries out obtaining the mean value in time T after digital filtering to the voltage signal of sending into, and according to current phase current mean value and last time resolver zero drift offset adjust direction and solve the zero drift offset of best resolver; Meanwhile, microcontroller is sent motor control signal into analog line driver, carries out power amplification rear drive normally moved by measured motor by power driving circuit.

The invention has the beneficial effects as follows: can simplify the implementation step of existing detection resolver zero drift technology, reduce the difficulty that detects resolver zero drift, automatically realize the calculating of resolver zero drift the optimal compensation value.

The present invention utilizes the relation of phase current and rotor-position, by being solidificated in the program in microcontroller, can realize the detection of resolver zero drift, and calculates the optimal compensation value of zero drift, easy to operate, strong adaptability; Can improve a little and can realize at general-purpose machine control platform, cost be low.

Brief description of the drawings

Fig. 1 is general structure schematic diagram of the present invention

In figure, 1-microcontroller; 2-analog to digital conversion circuit; 3-power driving circuit; 4-current detecting and modulate circuit; 5-power circuit; 6-signals of rotating transformer resolving circuit; 7-be equipped with resolver by measured motor.

Embodiment

The present invention includes following steps:

1) the initial zero drift offset of setting resolver is zero.Rotary electric machine, the current current signal I of sampling motor any phase winding Px, and be to obtain the mean value X in time T after digital quantity by this current conversion;

2) the zero drift offset adjustment direction F of setting resolver is+1, taking the minimum resolution value of output signal of rotary transformer as step units Δ, the zero drift offset of resolver is increased after a Δ, the current current signal I of sampling motor winding Px, and be to obtain the mean value Y in time T after digital quantity by this current conversion;

3) determine the adjustment direction of the zero drift offset of resolver according to the value of X, Y, F.

In the time that F is+1:

If X≤Y, the value of X is updated to the value of Y, the zero drift offset of resolver is reduced to a Δ, upgrading F value is-1, the current current signal I of sampling motor winding Px obtains mean value in time T as current Y value after this current conversion is digital quantity.

If X>Y, the value of X is updated to the value of Y, the zero drift offset of resolver is increased to a Δ, upgrading F value is+1, the current current signal I of sampling motor winding Px, and be to obtain the mean value in time T after digital quantity by this current conversion, using this mean value as current Y value.

In the time that F is-1:

If X≤Y, the value of X is updated to the value of Y, the zero drift offset of resolver is increased to a Δ, upgrading F value is+1, the current current signal I of sampling motor winding Px obtains mean value in time T as current Y value after this current conversion is digital quantity.

If X>Y, the value of X is updated to the value of Y, the zero drift offset of resolver is reduced to a Δ, upgrading F value is-1, the current current signal I of sampling motor winding Px, and be to obtain the mean value in time T after digital quantity by this current conversion, using this mean value as current Y value.

4) repeating step 3), until there is continuously the swing state of certain number of times (as 200 times) in the zero drift offset of resolver, be that zero drift offset alternately occurs that (DT+ Δ) and (DT-Δ) reaches certain number of times continuously, now DT is final resolver zero drift offset.

The device of realizing said method of the present invention, comprises power circuit, microcontroller, power driving circuit, signals of rotating transformer resolving circuit, current detecting and modulate circuit, analog to digital conversion circuit (or analog-to-digital conversion module).Resolver resolving circuit is for providing pumping signal to resolver, and the outputting analog signal of resolver is resolved and nurses one's health into the digital signal that meets microcontroller input requirements and send into microcontroller, resolver resolving circuit adopts existing technological means.Current detecting and modulate circuit comprise Hall current sensor and signal conditioning circuit, Hall current sensor detects the electric current in motor phase windings, and sends into signal conditioning circuit signal condition is sent into analog to digital conversion circuit to the voltage signal in the specified input range of analog to digital conversion circuit.Analog to digital conversion circuit with certain sample frequency sample the voltage signal sent into and this voltage signal is converted to the digital signal that meets microcontroller signal input standard after send into microcontroller.Microcontroller carries out obtaining the mean value in time T after digital filtering to the phase current sampling signal of sending into, and according to current phase current mean value and last time resolver zero drift offset adjust the zero drift offset of the best resolver of direction automatic calculation; Meanwhile, microcontroller is sent motor control signal into analog line driver and is moved with drive motors.The control signal that power driving circuit is sent into microcontroller is carried out power amplification rear drive and is normally moved by measured motor.

Below in conjunction with drawings and Examples, the present invention is further described.

In order to embody exploitativeness of the present invention, here taking motor GK6105-8SC61 that resolver is housed as measurand, microcontroller adopts the inner digital signal controller dsPIC30F6010A that is integrated with analog-to-digital conversion module, taking integrated power module PM150LA120 as analog line driver, form current detecting and modulate circuit with Hall current sensor CSM300B and amplifier TL082, signals of rotating transformer resolving circuit is made up of AD2S80.

The concrete implementation step of example is as follows:

1) resolver resolving circuit 6 adopts the sinusoidal excitation signal that general 12 AD2S80 resolving circuits generation 5KHz, effective values are 2.25V to send into resolver, and the output signal that receives resolver resolves, 12 railway digital signals after resolving are sent into microcontroller 1.

2) to set the initial zero drift offset of resolver be zero to microcontroller 1.Read the signal that signals of rotating transformer resolving circuit is sent into, obtain the variable R S corresponding with motor rotor position, scope is 0 ~ 4095.Microcontroller passes through look-up table according to the value of RS, produces 6 tunnel amplitude modulation drive signal than the SPWM that is 0.2 by built-in PWM module, sends into three phase power driver 3.

3) power driving circuit 3 drives signal that winding is accessed to positive source or power supply ground according to 6 roads of sending into, and drive motors 7 rotates.

4) utilize the Hall current sensor in current detecting and modulate circuit 4 to detect the A phase winding phase current Ia of motor 7, and utilize prior art to become the voltage signal within the scope of 0 ~ 5V to send into analog to digital conversion circuit 2 signal condition of CSM300B output by TL082 in current detecting and modulate circuit 4.

5) configuration analog to digital conversion circuit 2, with the sample signal sent into be converted into digital signal of the sample frequency of 10KHz, is sent in microcontroller 1.

6) digital signal that microcontroller 1 is sent into analog to digital conversion circuit 2 is asked for the mean value in 20mS.And the zero drift that is rotated transformer by being solidificated in program in microcontroller detects and the optimal compensation value is calculated, detailed process is as follows:

(1) making the initial value of the zero drift offset DT of resolver is zero, the now mean value of motor A phase winding electric current I a in 20mS of sampling, and this value is sent into variable X;

(2) making the zero drift offset adjustment direction F of resolver is+1, taking the minimum resolution value (1/1024) of output signal of rotary transformer as step units Δ, the zero drift offset DT of resolver is increased after a Δ, the mean value of sampled I a in 20mS, and this value is sent into variable Y;

(3) determine the adjustment direction of the zero drift offset of resolver according to the value of X, Y, F.

In the time that F is+1:

If X≤Y, sends the value of variable Y into variable X, DT is reduced to a Δ, upgrading F value is-1, the mean value of sampled I a in 20mS, and this value is sent into variable Y.

If X>Y, sends the value of variable Y into variable X, DT is increased to a Δ, upgrading F value is+1, the mean value of sampled I a in 20mS, and this value is sent into variable Y.

In the time that F is-1:

If X≤Y, sends the value of X into variable Y, DT is increased to a Δ, upgrading F value is+1, the mean value of sampled I a in 20mS, and this value is sent into variable Y.

If X>Y, sends the value of X into variable Y, DT is reduced to a Δ, upgrading F value is-1, the mean value of sampled I a in 20mS, and this value is sent into variable Y.

(4) repeat detection and the computational process of above-mentioned (3), until there is continuously the swing state of 200 times in the value of DT between DT+ Δ and DT-Δ, DT now regards as final resolver zero drift offset, has so far just completed automatic detection and compensation to resolver zero drift.

Can before the normal operation of motor, automatically detect the zero drift of resolver and calculate the optimal compensation value by the program being solidificated in microcontroller by above-mentioned method and device, reduce the zero drift detection of resolver and the complexity of compensation value calculation.

Claims (2)

1. a method that automatically detects and compensate resolver zero drift, is characterized in that comprising the steps:
1) the initial zero drift offset of setting resolver is zero, rotary electric machine, the current current signal I of any phase winding Px of sampling motor, and be digital quantity by this current conversion, ask for the mean value X in time T, the value of time T is relevant with current sample time and current ripples, and under selected sample rate, the value of time T is enough approached the spent time of the sampling number of primary current mean value as criterion seeking out;
2) the zero drift offset of selected resolver is adjusted direction F arbitrarily, and the zero drift offset adjustment direction F that sets resolver is+1, taking the minimum resolution value of output signal of rotary transformer as step units Δ, the zero drift offset of resolver is increased after a Δ, the current current signal I of sampling motor winding Px, and be to obtain the mean value Y in time T after digital quantity by this current conversion;
3) determine the adjustment direction of the zero drift offset of resolver according to the value of X, Y, F:
In the time that F is+1:
If X≤Y, the value of X is updated to the value of Y, the zero drift offset of resolver is reduced to a Δ, upgrading F value is-1, the current current signal I of sampling motor winding Px obtains mean value in time T as current Y value after this current conversion is digital quantity;
If X>Y, the value of X is updated to the value of Y, the zero drift offset of resolver is increased to a Δ, the current current signal I of sampling motor winding Px, and be to obtain the mean value in time T after digital quantity by this current conversion, using this mean value as current Y value;
In the time that F is-1:
If X≤Y, the value of X is updated to the value of Y, the zero drift offset of resolver is increased to a Δ, upgrading F value is+1, the current current signal I of sampling motor winding Px obtains mean value in time T as current Y value after this current conversion is digital quantity;
If X>Y, the value of X is updated to the value of Y, the zero drift offset of resolver is reduced to a Δ, the current current signal I of sampling motor winding Px, and be to obtain the mean value in time T after digital quantity by this current conversion, using this mean value as current Y value;
4) repeating step 3), until there is continuously swing state in the zero drift offset of resolver, be that zero drift offset alternately occurs DT+ Δ and DT-Δ at least 150 times continuously, now DT is final resolver zero drift offset.
2. realize the device of the method for automatic detection claimed in claim 1 and compensation resolver zero drift for one kind, comprise microcontroller, power driving circuit, signals of rotating transformer resolving circuit, current detecting and modulate circuit, analog to digital conversion circuit, it is characterized in that: described signals of rotating transformer resolving circuit is for providing pumping signal to resolver, and the outputting analog signal of resolver is resolved and nurses one's health into the digital signal that meets microcontroller input requirements and send into microcontroller, current detecting and modulate circuit comprise Hall current sensor and signal conditioning circuit, Hall current sensor detects the electric current in motor phase windings, and send into signal conditioning circuit signal condition is sent into analog to digital conversion circuit to the voltage signal in the specified input range of analog to digital conversion circuit, analog to digital conversion circuit with sample frequency more than 1kHz sample the voltage signal sent into and this voltage signal is converted to the digital signal that meets microcontroller signal input standard after send into microcontroller, microcontroller carries out obtaining the mean value in time T after digital filtering to the voltage signal of sending into, and according to current phase current mean value and last time resolver zero drift offset adjust direction and solve the zero drift offset of best resolver, meanwhile, microcontroller is sent motor control signal into power driving circuit, carries out power amplification rear drive normally moved by measured motor by power driving circuit.
CN201210269214.XA 2012-07-31 2012-07-31 Method and device for automatically detecting and compensating zero position deviation of rotary transformer CN102818952B (en)

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